diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/ualberta/testsuite.h')
-rw-r--r-- | mavlink/include/mavlink/v1.0/ualberta/testsuite.h | 192 |
1 files changed, 192 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/ualberta/testsuite.h b/mavlink/include/mavlink/v1.0/ualberta/testsuite.h new file mode 100644 index 000000000..79a6a004a --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ualberta/testsuite.h @@ -0,0 +1,192 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from ualberta.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef UALBERTA_TESTSUITE_H +#define UALBERTA_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_ualberta(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_test_common(system_id, component_id, last_msg); + mavlink_test_ualberta(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_nav_filter_bias(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_nav_filter_bias_t packet_in = { + 93372036854775807ULL, + 73.0, + 101.0, + 129.0, + 157.0, + 185.0, + 213.0, + }; + mavlink_nav_filter_bias_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.usec = packet_in.usec; + packet1.accel_0 = packet_in.accel_0; + packet1.accel_1 = packet_in.accel_1; + packet1.accel_2 = packet_in.accel_2; + packet1.gyro_0 = packet_in.gyro_0; + packet1.gyro_1 = packet_in.gyro_1; + packet1.gyro_2 = packet_in.gyro_2; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_nav_filter_bias_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_pack(system_id, component_id, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 ); + mavlink_msg_nav_filter_bias_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 ); + mavlink_msg_nav_filter_bias_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_nav_filter_bias_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_nav_filter_bias_send(MAVLINK_COMM_1 , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 ); + mavlink_msg_nav_filter_bias_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_radio_calibration(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_radio_calibration_t packet_in = { + { 17235, 17236, 17237 }, + { 17547, 17548, 17549 }, + { 17859, 17860, 17861 }, + { 18171, 18172 }, + { 18379, 18380, 18381, 18382, 18383 }, + { 18899, 18900, 18901, 18902, 18903 }, + }; + mavlink_radio_calibration_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + + mav_array_memcpy(packet1.aileron, packet_in.aileron, sizeof(uint16_t)*3); + mav_array_memcpy(packet1.elevator, packet_in.elevator, sizeof(uint16_t)*3); + mav_array_memcpy(packet1.rudder, packet_in.rudder, sizeof(uint16_t)*3); + mav_array_memcpy(packet1.gyro, packet_in.gyro, sizeof(uint16_t)*2); + mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(uint16_t)*5); + mav_array_memcpy(packet1.throttle, packet_in.throttle, sizeof(uint16_t)*5); + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_radio_calibration_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_radio_calibration_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_radio_calibration_pack(system_id, component_id, &msg , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle ); + mavlink_msg_radio_calibration_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_radio_calibration_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle ); + mavlink_msg_radio_calibration_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_radio_calibration_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_radio_calibration_send(MAVLINK_COMM_1 , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle ); + mavlink_msg_radio_calibration_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_ualberta_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_ualberta_sys_status_t packet_in = { + 5, + 72, + 139, + }; + mavlink_ualberta_sys_status_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.mode = packet_in.mode; + packet1.nav_mode = packet_in.nav_mode; + packet1.pilot = packet_in.pilot; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ualberta_sys_status_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_ualberta_sys_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ualberta_sys_status_pack(system_id, component_id, &msg , packet1.mode , packet1.nav_mode , packet1.pilot ); + mavlink_msg_ualberta_sys_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ualberta_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mode , packet1.nav_mode , packet1.pilot ); + mavlink_msg_ualberta_sys_status_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { + comm_send_ch(MAVLINK_COMM_0, buffer[i]); + } + mavlink_msg_ualberta_sys_status_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ualberta_sys_status_send(MAVLINK_COMM_1 , packet1.mode , packet1.nav_mode , packet1.pilot ); + mavlink_msg_ualberta_sys_status_decode(last_msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); +} + +static void mavlink_test_ualberta(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_test_nav_filter_bias(system_id, component_id, last_msg); + mavlink_test_radio_calibration(system_id, component_id, last_msg); + mavlink_test_ualberta_sys_status(system_id, component_id, last_msg); +} + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // UALBERTA_TESTSUITE_H |